Integrating Arduino-based Educational Mobile Robots in ROS

A. Araújo, D. Portugal, M. S. Couceiro and R. P. Rocha

Journal of Intelligent and Robotic Systems, 77(2), pp. 281-298, Springer, Feb. 2015. DOI: 10.1007/s10846-013-0007-4

Abstract

This article presents the full integration of compact educational mobile robotic platforms built around an Arduino controller board in the Robot Operating System (ROS). To decrease the development time, a driver interface in ROS was created so as to provide hardware abstraction and intuitive operation mode, thus allowing researchers to focus essentially in their main research motivation, e.g., search and rescue, multi-robot surveillance or swarm robotics. Moreover, the full integration in ROS provided by the driver enables the use of several tools for data analysis, easiness of interaction between multiple robots, use of different sensors and teleoperation devices, thereby targeting engineering education. To validate the approach, diverse experimental tests were conducted using different Arduino-based robotic platforms.

Keywords ─ Arduino-based robots; ROS; educational robotics; sensing.

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BibTeX

@ARTICLE(Araujo_et_al_15,

AUTHOR = "A. Ara{\’u}jo, D. Portugal, M. S. Couceiro and R. P. Rocha",

TITLE = "Integrating Arduino-based Educational Mobile Robots in ROS",

JOURNAL = "Journal of Intelligent and Robotic Systems",

VOLUME = "77",

NUMBER = "2",

YEAR = "2015",

MONTH = "Feb.",

PAGES = "281-298"

)

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Last update: 07/07/2015